/roboti/istrobot/camerus/SW/876/objizdka_L.c |
---|
58,7 → 58,7 |
goto cihla; // Znovu zacni cihlu objizdet |
// Pozor! Pamatuje se, jestli jsme uz neprejeli caru! |
}; |
if(IRRX) // hrozi celni srazka s cihlou v prubehu objizdeni |
{ |
cas=CASMIN; |
88,7 → 88,7 |
SetServoQ(cas); |
i2c_start(); // Sonar Ping |
i2c_write(0xE0); |
i2c_write(SONAR_ADR); |
i2c_write(0x0); |
i2c_write(0x52); // mereni v us |
i2c_stop(); |
104,11 → 104,11 |
}; |
i2c_start(); // Odraz ze sonaru |
i2c_write(0xE0); |
i2c_write(SONAR_ADR); |
i2c_write(0x3); |
i2c_stop(); |
i2c_start(); |
i2c_write(0xE1); |
i2c_write(SONAR_ADR+1); |
vzdalenost=i2c_read(0); |
i2c_stop(); |